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In this paper, we investigate the problem of planning an optimal infinitepath for a single robot to achieve a linear temporal logic (LTL) task withsecurity guarantee. We assume that the external behavior of the robot,specified by an output function, can be accessed by a passive intruder(eavesdropper). The security constraint requires that the intruder should neverinfer that the robot was started from a secret location. We provide a sound andcomplete algorithmic procedure to solve this problem. Our approach is based onthe construction of the twin weighted transition systems (twin-WTS) that tracksa pair of paths having the same observation. We show that the security-awarepath planning problem can be effectively solved based on graph searchtechniques in the product of the twin-WTS and the B\"{u}chi automatonrepresenting the LTL formula. The complexity of the proposed planning algorithmis polynomial in the size of the system model. Finally, we illustrate ouralgorithm by a simple robot planning example.

Secure-by-Construction Optimal Path Planning for Linear Temporal Logic Tasks